| Motor Number |
Motor Description |
Motor Type |
Max Current |
PDB location |
Motor Controller |
Encoder |
Control |
| 1 |
Base Drive Motor - Front Left |
CIM |
133A |
(40A) 12 |
SRX |
Speed |
CAN1 |
| 2 |
Base Drive Motor - Front Right |
CIM |
133A |
(40A) 2 |
SRX |
Speed |
CAN6 |
| 3 |
Base Drive Motor - Back Left |
CIM |
133A |
(40A) 13 |
SRX |
Speed |
CAN2 |
| 4 |
Base Drive Motor - Back Right |
CIM |
133A |
(40A) 1 |
SRX |
Speed |
CAN7 |
| 5 |
Arm Swing Motor - Left |
Mini-CIM |
86A |
(40A) ? |
SRX |
Limit Switch |
CAN? |
| 6 |
Arm Swing Motor - Right |
Mini-CIM |
86A |
(40A) ? |
SRX |
Limit Switch |
CAN? |
| 7 |
Arm Roller Motor - Left |
Bag Motor |
41A |
(30A) ? |
SR |
None |
PWM? |
| 8 |
Arm Roller Motor - Right |
Bag Motor |
41A |
(30A) ? |
SR |
None |
PWM? |
| 9 |
Chain Drive Motor |
CIM |
133A |
(40A) ? |
SRX |
Distance/Limit Switch |
PWM? |
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